Vehicle steering system and vehicle having same

This application is a Continuation Application of International Patent Application No. PCT/CN2021/142669, filed on Dec. 29, 2021, which is based on and claims priority to and benefits of Chinese Patent Application No. 202023351625.2 and No. 202011630594.6 both filed on Dec. 30, 2020. The entire content of all of the above-referenced applications is incorporated herein by reference.

The present disclosure relates to the field of vehicle technologies, and more particularly, a vehicle steering system and a vehicle having the same.

In the related art, an upper portion of a first steering shaft of a vehicle is usually fixed to a steering wheel, and a lower portion of the first steering shaft is usually connected with a steering gear. Therefore, a steering torque acting on the steering wheel is transmitted to the steering gear to realize the steering of the vehicle. However, the vehicle steering system has relatively undiversified functions. When the vehicle has emerging functions such as an on-board multimedia function, a drive-by-wire function, and an automatic driving function, a feeling of real the steering of the vehicle needs to be simulated to improve the user experience.

The present disclosure resolves at least one of the technical problems existing in the related art. In a first aspect, the present disclosure provides a vehicle steering system. The vehicle steering system may simulate a steering feeling of transmission of a steering torque by a first steering shaft and a steering gear when the first steering shaft and the steering gear interrupt the transmission of the steering torque, thereby effectively improving the user experience.

In a second aspect, the present disclosure provides a vehicle having the vehicle steering system.

The vehicle steering system according to an embodiment of the present disclosure includes: a housing; a first steering shaft disposed in the housing, where the first steering shaft is configured to be coupled to a steering gear to transmit a steering torque, or the first steering shaft is configured to be decoupled from the steering gear to interrupt a transmission of the steering torque; and a feeling simulator, connected with the first steering shaft, where in response to that the first steering shaft and the steering gear interrupt the transmission of the steering torque, the feeling simulator is configured to simulate a steering feeling of the transmission of the steering torque by the first steering shaft and the steering gear.

In the vehicle steering system according to the embodiments of the present disclosure, the feeling simulator is arranged and configured to simulate a steering feel of the transmission of the steering torque by the first steering shaft and the steering gear in a case that the first steering shaft and the steering gear interrupted the transmission of the steering torque. When the vehicle has emerging functions such as an on-board multimedia function, a drive-by-wire function, and an autonomous driving function, the vehicle can be configured to simulate the real steering feel such as the steering damping feeling and the restoring force, and ensure the authenticity of the simulation and effectively improve the user experience.

According to some embodiments of this application, the feeling simulator includes: a feeling driver, having an output shaft and disposed on the housing; a driving member, fixed on the output shaft; and a driven member, fixed on the first steering shaft and engaged with the driving member.

According to some embodiments of the present disclosure, the vehicle steering system further includes: a rotation angle detector, configured to detect a rotation direction of the first steering shaft; and a controller, configured to communicate with the rotation angle detector and the feeling driver, where in response to that the first steering shaft turns, the controller controls the feeling driver to provide a resistance against the turning of the first steering shaft from an original position; and in response to that the first steering shaft restores to the original position, the controller controls the feeling driver to provide assistance to the restoring of the first steering shaft.

According to some embodiments of the present disclosure, the vehicle steering system further includes: a torque detector, configured to detect a driving condition of a vehicle and transmit a first torque signal; and a controller, configured to communicate with the torque detector and the feeling driver, receive the first torque signal, and control, according to the first torque signal, the feeling driver to provide the first steering shaft with a first road feel simulation torque that simulates a first road feel torque transmitted by the first steering shaft and the steering gear.

According to some embodiments of the present disclosure, the vehicle steering system further includes: a driving computer, configured to communicate with the controller and detect a driving attitude of the vehicle and transmit a second torque signal to the controller, where the controller is configured to control, according to the second torque signal, the feeling driver to provide the first steering shaft with a second road feel simulation torque that simulates a second road feel torque transmitted by the first steering shaft and the steering gear.

According to some embodiments of the present disclosure, the vehicle steering system further includes: a safety detector, configured to detect whether a driver drives safely; and a controller, configured to communicate with the safety detector and the feeling driver, where in response to that the safety detector detects a safety risk of the driver in the driving, the controller controls the feeling driver to provide a vibration force to drive the first steering shaft to rotate forward and backward.

According to some embodiments of the present disclosure, the safety detector includes at least one of a fatigue detector, a lane departure detector, a collision detector, a lane change blind area detector, and/or a reversing collision detector.

According to some embodiments of the present disclosure, the housing includes: a body, where the first steering shaft and the driven member are disposed in the body; and an accommodating portion, protruding from an outer surface of the body, where an interior of the accommodating portion is in communication with an interior of the body; and the driving member is disposed in the accommodating portion.

According to some embodiments of the present disclosure, a part of the driving member extends into the body and is engaged with the driven member.

According to some embodiments of the present disclosure, an end of the output shaft extends into the accommodating portion from a first end of the accommodating portion and is coupled to a first end of the driving member; a support member is disposed on a second end of the accommodating portion; and the a second end of the driving member extends through the support member.

According to some embodiments of the present disclosure, the second end of the accommodating portion is open and comprises an end cover.

According to some embodiments of the present disclosure, a central axis of the accommodating portion is perpendicular to a central axis of the body.

According to some embodiments of the present disclosure, the accommodating portion and the body are formed as one piece.

According to some embodiments of the present disclosure, the feeling driver is connected to the accommodating portion.

According to some embodiments of the present disclosure, the driving member comprises a worm; and the driven member comprises a worm gear meshed with the worm.

According to some embodiments of the present disclosure, a spiral angle of the worm gear is β; and where 30°≤β≤40°.

According to some embodiments of the present disclosure, the vehicle steering system further include a coupling device. The coupling device includes the first steering shaft and the second steering shaft. The first steering shaft is connected with the steering gear. The first steering shaft is configured to move between a coupling position and a decoupling position. The first steering shaft is coupled to the second steering shaft at the coupling position and transmits the steering torque of the steering gear. The first steering shaft is decoupled from the second steering shaft at the decoupling position and interrupts the transmission of the steering torque of the steering gear.

According to some embodiments of the present disclosure, the coupling device further includes a third steering shaft. The first steering shaft is connected to the steering gear through the third steering shaft. The first steering shaft is engaged with the third steering shaft to transmit the steering torque of the steering gear. The first steering shaft is configured to move between the coupling position and the decoupling position with respect to the third steering shaft.

According to some embodiments of the present disclosure, the coupling device further includes: a shaft sleeve, sleeved on the first steering shaft, where the shaft sleeve is coupled with the first steering shaft and configured to rotate with respect to the first steering shaft; and a driving assembly, connected with the shaft sleeve, where the driving assembly is configured to drive the first steering shaft to move between the coupling position and the decoupling position through the shaft sleeve.

The vehicle in an embodiment of the present disclosure includes the vehicle steering system according to any of the above embodiments of the present disclosure.

Other aspects and advantages of the present disclosure will be given in the following description, some of which will become apparent from the following description or may be learned from practices of the present disclosure.

100 : Vehicle steering system; 1 11 12 121 : Housing;: Body;: Accommodating portion;: End cover; 2 3 31 : Steering shaft;: Feeling simulator;: Feeling driver; 32 321 33 4 : Driving member;: Connecting portion;: Driven member;: Support member. 110 200 210 300 400 430 440 441 442 450 451 452 453 500 510 600 First transmission shaft, Second transmission shaft, Spline groove, Shaft sleeve, Driving assembly, Driving device, Transmission mechanism, Output lead screw, Output nut, Connecting rod mechanism, First connecting rod, Second connecting rod, Third connecting rod, Third transmission shaft, Cavity, and Housing.

The embodiments of the present disclosure are described in detail below, and the embodiments described with reference to accompanying drawings are exemplary.

100 1 FIG. 9 FIG. A vehicle steering systemaccording to embodiments of the present disclosure is described below with reference toto.

1 FIG. 4 FIG. 20 FIG. 100 1 2 3 100 As shown into, the vehicle steering systemaccording to the embodiments of the present disclosure includes a housing, a first steering shaft, and a feeling simulator. As shown in, in some embodiments, the vehicle steering systemmay also include a controller, a rotation angle detector, a torque detector, a driving computer, a safety detector, a fatigue detector, a lane departure detector, a collision detector, a lane change blind area detector, and a reversing collision detector.

2 1 2 2 3 2 3 2 2 In an embodiment, the first steering shaftis rotatably arranged/disposed in the housing, the first steering shaftis configured to be coupled to a steering gear to transmit a steering torque, and the first steering shaftis configured to be decoupled from the steering gear to interrupt the transmission of the steering torque. The feeling simulatoris connected with the first steering shaft. The feeling simulatorsimulates a steering feeling of the transmission of the steering torque by the first steering shaftand the steering gear when the first steering shaftand the steering gear interrupt the transmission of the steering torque.

2 3 2 2 3 2 3 2 2 100 100 For example, when a driver controls a steering wheel of a vehicle to drive the first steering shaftto turn, the feeling simulatorcan provide resistance to the first steering shaft, thereby simulating the control damping feeling during the steering. When the driver controls a steering wheel of a vehicle to drive the first steering shaftto restore to its original position, the feeling simulatormay provide a restoring torque for the first steering shaft, thereby simulating a restoring force. As a result, the feeling simulatormay be arranged/disposed to simulate the real steering feel such as the steering damping feeling, the restoring force, and the like of the transmission of the steering torque by the first steering shaftand the steering gear when the first steering shaftand the steering gear interrupt the transmission of the steering torque. When the vehicle steering systemis a steering-by-wire system, the driving safety of the driver can be effectively improved. When the vehicle steering systemis a driving simulation system such as a steering system of a game vehicle, the game experience can be improved and the authenticity of simulation is ensured.

100 2 It should be noted that, the “steering-by-wire system” is a vehicle steering systemthat eliminates a conventional mechanical connection between a steering wheel and a turning wheel (in this case, the first steering shaftand the steering gear interrupt the transmission of the steering torque), transmits a signal through a data bus, and acquires a feedback command from a steering control system.

100 3 3 2 2 In the vehicle steering systemaccording to the embodiments of the present disclosure, the feeling simulatoris arranged/disposed and the feeling simulatorsimulates a steering feeling during the transmission of the steering torque by the first steering shaftand the steering gear, when the first steering shaftand the steering gear interrupt the transmission of the steering torque. When the vehicle has emerging functions such as an on-board multimedia function, a drive-by-wire function, and an autonomous driving function, the vehicle can be configured to simulate the steering feeling such as the steering damping feeling and the restoring force, and can ensure the authenticity of the simulation and improve the user experience.

3 FIG. 4 FIG. 3 31 32 33 31 31 1 32 33 2 33 32 In some embodiments of the present disclosure, referring toand, the feeling simulatorincludes a feeling driver, a driving member, and a driven member. In an embodiment, the feeling driverhas an output shaft. The feeling driveris arranged/disposed on the housing. The driving memberis fixed to the output shaft. The driven memberis fixed to the first steering shaft. The driven memberis engaged with the driving member.

33 2 33 2 2 2 33 31 32 33 33 2 33 31 32 33 33 31 3 31 Since the driven memberis fixed to the first steering shaft, the driven memberrotates with the first steering shaftwhen the first steering shaftrotates. When the driver controls the steering wheel of the vehicle to drive the first steering shaftand the driven memberto turn, the feeling drivercan drive the driving memberto rotate through the output shaft and provide a torque opposite to a rotation direction of the driven member, thereby providing the resistance for the rotation of the driven memberfor simulating the steering damping feeling. When the driver controls the steering wheel of the vehicle to drive the first steering shaftand the driven memberto restore, the feeling drivercan drive the driving memberto rotate and provide the same torque as the rotation direction of the driven member, thereby providing the assistance for the rotation of the driven memberfor simulating the restoring force. Moreover, when the feeling driveralternately rotates forward and backward at a high frequency, a function of vibration prompt can be realized. In addition, while ensuring the authenticity of the simulation, the structure of the feeling simulatoris simple and easy to implement. The feeling drivermay be a feeling motor. However, the feeling driver is not limited thereto.

100 2 31 2 31 2 2 31 2 In some embodiments of the present disclosure, the vehicle steering systemfurther includes a rotation angle detector (not shown) and a controller (not shown). The rotation angle detector is configured to detect a rotation direction of the first steering shaft. The controller is configured to communicate with the rotation angle detector and the feeling driver. When the first steering shaftturns, the controller controls the feeling driverto provide the resistance against the turning of the first steering shaft. When the first steering shaftrestores, the controller controls the feeling driverto provide the assistance for the restoring of the first steering shaft.

31 31 32 32 33 2 2 2 31 31 32 32 33 2 2 2 2 2 For example, when the rotation angle detector detects a steering signal, the rotation angle detector transits the detected steering signal to the controller, and the controller controls the feeling driverto rotate according to the received steering signal. In this case, the feeling driverdrives the driving memberto rotate and causes the driving memberto provide a torque opposite to the rotation direction of the driven memberand the first steering shaft, thereby providing the resistance for the rotation of the first steering shaft, so as to simulate the steering damping feeling during the transmission of the steering torque by the first steering shaftand the steering gear. For example, when the rotation angle detector detects a restoring signal, the rotation angle detector transits the detected restoring signal to the controller, and the controller controls the feeling driverto rotate according to the received restoring signal. In this case, the feeling driverdrives the driving memberto rotate and causes the driving memberto provide the same torque as the rotation direction of the driven memberand the first steering shaft, thereby providing the assistance for the restoring of the first steering shaft, so as to simulate the restoring force during the transmission of the steering torque by the first steering shaftand the steering gear. As a result, the rotation angle detector and the controller are configured to simulate the steering damping feeling and the restoring force during the transmission of the steering torque by the first steering shaftand the steering gear, when the first steering shaftand the steering gear interrupt the transmission of the steering torque, thereby improving the authenticity and the reliability of the simulation.

100 31 31 2 2 In some embodiments of the present disclosure, the vehicle steering systemfurther includes a torque detector (not shown in the figure). The torque detector is configured to detect a driving condition of a vehicle and transmit a first torque signal. The controller is configured to communicate with the torque detector and the feeling driver, receive the first torque signal, and control, according to the first torque signal, the feeling driverto provide the first steering shaftwith a road feel simulation torque that simulates a road feel torque transmitted by the first steering shaftand the steering gear.

2 2 2 31 31 2 100 100 For example, when a road condition (such as a steep slope, a slope, a muddy road, a rocky road, or a pothole road, and the like) is different, the first torque signal received by the controller is different. Therefore, a different road feel simulation torque can be provided to the first steering shaft. Since the first steering shaftis usually connected to the steering wheel, the first steering shaftcan transmit the road feel simulation torque to the steering wheel, so as to clearly feedback the road condition of the vehicle. Therefore, by the configuration of the torque detector, the controller can control the feeling driverto rotate according to the first torque signal detected by the torque detector and cause the feeling driverto provide the road feel simulation torque to the first steering shaft, when the vehicle steering systemis the steering-by-wire system. In this way, the feedback force of the vehicle steering systemon the vehicle road can be simulated in real time, and the driving condition of the vehicle can be effectively fed back, providing the driver with a more real feeling of the road and improving the vehicle maneuverability.

100 31 2 2 In an embodiment of the present disclosure, the vehicle steering systemfurther includes a driving computer. The driving computer is configured to communicate with the controller and detect a driving attitude of the vehicle and transmit a second torque signal to the controller. The controller is configured to control, according to the second torque signal, the feeling driverto provide the first steering shaftwith the road feel simulation torque that simulates the road feel torque transmitted by the first steering shaftand the steering gear. The “driving attitude of the vehicle” refers to the attitude of the vehicle in a driving state. For example, under the influence of the external environment, the vehicle may experience sideslip, fishtailing, and other conditions, causing the center of gravity of the vehicle to change, and the posture of the vehicle to change as well. It should be noted that the driving computer may be the vehicle controller.

31 31 2 31 31 2 31 31 2 For example, when the vehicle travels at a high speed, the controller can control the feeling driverto rotate according to the second torque signal transmitted by the driving computer and cause the feeling driverprovide a large torque for the first steering shaftand the steering wheel, so as to increase a weight of the steering wheel and make the steering wheel more stable. When the vehicle travels at a low speed, the controller can control the feeling driverto rotate according to the second torque signal transmitted by the driving computer and cause the feeling driverdrive the steering wheel lighter through the first steering shaft, thereby causing the steering wheel to rotate more easily. When the vehicle sideslips, the controller can control the feeling driverto rotate according to the second torque signal transmitted by the driving computer and cause the feeling driverto correct the steering wheel through the first steering shaft, so as to ensure the driving safety.

31 31 2 100 100 Therefore, by arranging the driving computer, the controller can control the feeling driverto rotate according to the second torque signal provided by the driving computer and cause the feeling driverto provide the road feel simulation torque to the first steering shaftand the steering wheel, when the vehicle steering systemis the steering-by-wire system and the driving simulation system such as a steering system of a game vehicle. The driving attitude of the vehicle is effectively fed back, so that the feedback force of the driving attitude of the vehicle to the vehicle steering systemcan be simulated in real time, which provides the driver with a more real road feel and further improves the vehicle maneuverability.

100 31 31 2 In some embodiments of the present disclosure, the vehicle steering systemfurther includes a safety detector. The safety detector is configured to detect whether a driver drives safely. The controller is configured to communicate with the safety detector and the feeling driver. The controller controls the feeling driverto provide a vibration force to drive the first steering shaftto alternately rotate forward and backward when the safety detector detects a safety risk in the driving. In this way, the safety detector and the controller can be configured to play a role of vibration warning when there is a safety risk in driving. In this way, the vibration feeling can be provided to the driver, which can effectively improve the driving safety.

31 In an embodiment, the safety detector includes at least one of a fatigue detector, a lane departure detector, a collision detector, a lane change blind area detector, and a reversing collision detector. For example, when the safety detector includes the fatigue detector, and the fatigue detector detects fatigue driving of the driver and transmits a detected fatigue signal to the controller, the controller controls, according to the received fatigue signal, the feeling driverto alternately rotate forward and backward, so as to realize an effect of fatigue driving prompt, thereby reducing a risk of a traffic accident caused by the fatigue driving.

31 When the safety detector includes the lane departure detector, and the lane departure detector detects that the vehicle is about to deviate from the lane and transmits a detected lane departure warning signal to the controller, the controller can control, according to the received lane departure warning signal, the feeling driverto alternately rotate forward and backward, so that a lane departure warning can be realized, and the risk of the traffic accident caused by the lane deviation can be reduced.

31 When the safety detector includes the collision detector, and the collision detector detects that the vehicle is about to collide with other vehicles, pedestrians and obstacles, the collision detector transmits a collision warning signal to the controller. The controller can control, according to the received collision warning signal, the feeling driveralternately rotate forward and backward, so that a collision warning can be realized and occurrence of the collision can be avoided.

31 When the safety detector includes the lane change blind area detector, since there is a blind area in a rearview mirror of the vehicle, the lane change blind area detector can detect an overtaking vehicle in the blind area of the rearview mirror and transmits a risk signal to the controller, and the controller can control, according to the received risk signal, the feeling driverto alternately rotate forward and backward. In this way, the blind area prompt of the lane change can be realized to avoid the traffic accident due to the blind area in the process of the lane change.

31 When the safety detector includes the reversing collision detector, and the vehicle is in a dangerous distance between an obstacle and a vehicle when reversing, or when a pedestrian or a vehicle is suddenly near the rear of the vehicle during the process of reversing, the reversing collision detector transmits a reverse collision warning signal to the controller. The controller can control, according to the received collision warning signal, the feeling driveralternately rotate forward and backward, so as to realize a reverse collision warning and avoid a safety accident during the reversing process.

100 Therefore, through the above arrangement, the vehicle steering systemcan realize at least one of the fatigue driving warning, the lane departure warning, the collision warning, the lane change blind area warning, and the reverse collision warning, thereby reducing the risk of traffic accident and effectively improving the driving safety. Certainly, the safety detector may also include other types of detectors, not limited to the fatigue detector, the lane departure detector, the collision detector, the lane change blind area detector, and the reversing collision detector.

2 FIG. 6 FIG. 2 FIG. 6 FIG. 1 11 12 2 33 11 12 11 12 11 32 12 12 11 12 32 11 12 11 2 33 12 32 1 2 33 32 12 100 100 In some embodiments of the present disclosure, with reference toand, the housingincludes a bodyand an accommodating portion. The first steering shaftand the driven memberare arranged/disposed in the body. The accommodating portionprotrudes from an outer surface of the body. An interior of the accommodating portionis in communication with an interior of the body. The driving memberis arranged in the accommodating portion. For example, in the example ofand, the accommodating portionis connected to a radially outer side of the body, and a shape of the accommodating portionis adapted to a shape of the driving member. Therefore, by arranging the bodyand the accommodating portion, on the one hand, the bodycan effectively protect the first steering shaftand the driven member, and the accommodating portioncan effectively protect the driving member, so that impurities such as the external dust can be prevented from entering the interior of the housingand affecting the rotation of the first steering shaft, the driven member, and the driving member. On the other hand, occupied space of the accommodating portionis small, and the structure of the entire vehicle steering systemcan be made more compact, thereby reducing the occupied space of the vehicle steering systemin the vehicle, facilitating a spatial layout of other parts in the vehicle, and increasing leg movement space of the driver.

32 11 33 32 33 100 32 11 33 100 100 In an embodiment, a part of the driving memberextends into the bodyand engages with the driven member. Such an arrangement can ensure the reliability of the engagement between the driving memberand the driven member, so that the vehicle steering systemmay have functions such as steering damping feeling, road feeling feedback, steering restoring force, and vibration prompt. Moreover, since a part of the driving memberextends into the body, a radial dimension of the driven membercan be smaller, so that structural compactness of the vehicle steering systemcan be further improved, and the occupied space of the entire vehicle steering systemcan be reduced.

2 FIG. 4 FIG. 2 FIG. 4 FIG. 2 FIG. 4 FIG. 12 12 32 4 12 32 4 In some embodiments of the present disclosure, referring toto, a free end of the output shaft extends into the accommodating portionfrom one end (e.g., a first end) of the accommodating portion(for example, a left end in) and is fixed/coupled to one end (e.g., a first end) of the driving member(for example, a left end in). A support memberis arranged/disposed in the other end (e.g., a second end) of the accommodating portion(for example, a right end in), and the other end (e.g., a second end) of the driving member(for example, a right end in) rotatably extends through the support member.

3 FIG. 4 FIG. 32 31 321 321 32 4 321 321 32 4 12 321 4 32 4 4 32 31 4 32 32 33 In the examples ofand, one end of the driving memberaway from the feeling drivermay be provided with a connecting portion. A diameter of the connecting portionis less than a diameter of the driving member. A through fitting hole may be formed on the support member, and the connecting portionfits in with the fitting hole. A diameter of the fitting hole is greater than the diameter of the connecting portionand less than the diameter of the driving member. In this way, when the support memberis fixed to the accommodating portion, the radial movement of the connecting portionrelative to the support membermay be limited, and the axial movement of the driving memberrelative to the support membermay be limited. As a result, by arranging the support member, one end of the driving memberaway from the feeling drivermay be supported on the support member, so that the rotation of the driving membercan be more stable, thereby improving the fitting/coupling stability between the driving memberand the driven member.

2 FIG. 4 FIG. 2 FIG. 2 FIG. 12 12 121 121 4 32 121 1 1 12 32 33 32 33 4 4 12 12 32 4 121 12 4 121 4 12 4 4 In an embodiment, as shown into, the other end (such as, a right end in) of the accommodating portionis open, and the other end (such as, the right end in) of the accommodating portionis provided with a detachable end cover. In this way, the end coverhas better stopping and limiting effects, and an axial positioning of the support membercan be realized, thereby further ensuring the rotational stability of the driving member. Moreover, the end covercan ensure the tightness of the housing, and prevent impurities such as external dust from entering the housingthrough the other end of the accommodating portionand affecting the operation of the driving memberand the driven member, so that the reliability of the engagement between the driving memberand the driven membercan be guaranteed. In addition, when the support memberis mounted, the support membercan be extended from the open end of the accommodating portioninto the accommodating portionand the driving membercan be sleeved on the support member, and the end covercan be mounted to the accommodating portion. The support membercan be disassembled by simply removing the end cover, and then taking out the support memberfrom the open end of the accommodating portion, so that the mounting and disassembly of the support memberare more convenient, and the replacement of the support memberis convenient.

2 FIG. 6 FIG. 2 FIG. 6 FIG. 12 11 33 2 11 33 2 32 12 32 12 2 1 31 32 33 32 12 33 11 In an embodiment, referring toand, a central axis of the accommodating portionis perpendicular to a central axis of the body. For example, with reference toand, the driven memberis sleeved on the first steering shaft, and the bodyand the driven memberare arranged/disposed coaxially with the first steering shaft. The driving memberis arranged/disposed coaxially with the accommodating portion, and the driving memberand the accommodating portionare extend in a radial direction of the first steering shaft. In this way, the structure of the entire housingis simple, the processing is convenient, and the arrangement of the feeling driver, the driving member, and the driven memberis convenient. Further, the driving memberlocated in the accommodating portionand the driven memberlocated in the bodycan be better engaged to ensure that the feel of the vehicle driving can be more realistically simulated.

2 FIG. 12 11 1 12 11 1 32 33 100 12 1 100 100 12 11 100 100 In some embodiments of the present disclosure, with reference to, the accommodating portionand the bodymay be formed in one piece. In this way, impurities such as the dust can be prevented from entering an interior of the housingdue to a gap generated at a connection between the accommodating portionand the body, so as to effectively improve the tightness of the entire housing, ensure the normal operation of the driving memberand the driven member, and improve the reliability of the vehicle steering systemto simulate the driving feel. Moreover, the accommodating portionand the housingcan be connected without other parts, so that a quantity of parts of the entire vehicle steering systemcan be reduced, the structure of the vehicle steering systemcan be made simpler, and the cost can be reduced. In addition, by integrally forming the accommodating portionand the body, the integrity of the entire vehicle steering systemcan be improved, the vehicle steering systemand the mounting and disassembly are more convenient, and the assembly and disassembly efficiency can be effectively improved.

2 FIG. 4 FIG. 2 FIG. 4 FIG. 31 12 31 12 31 31 12 31 12 31 12 31 12 31 12 In an embodiment, as shown into, the feeling driveris detachably connected to the accommodating portion. In this way, the mounting and disassembly between the feeling driverand the accommodating portionare more convenient. When maintaining or replacing the feeling driver, the feeling driveris merely removed from the accommodating portion. The operation is more convenient and can improve the efficiency of the maintenance and replacement. For example, in the example ofto, the feeling driverand the accommodating portionare connected by a threaded fastener such as a screw, so that a secure connection between the feeling driverand the accommodating portioncan be realized, and the cost is low. Certainly, the feeling driverand the accommodating portioncan also be detachably connected by other means, such as a snap structure. It may be understood that a connection manner between the feeling driverand the accommodating portioncan be determined according to an actual need to better meet a practical application.

3 FIG. 4 FIG. 32 33 100 100 In some embodiments of the present disclosure, referring toand, the driving memberis a worm and the driven memberis a worm gear meshed with the worm. In this way, the worm gear is meshed with the worm, so that the transmission is more stable and reliable while ensuring that the real feeling during vehicle driving can be effectively simulated, thereby reducing the noise of the vehicle steering system. In addition, the worm gear and the worm are compact in structure, which can effectively save the space occupied by the vehicle steering system.

31 2 2 Further, in an embodiment, a spiral angle of the worm gear is β, where β satisfies: 30°≤β≤40°. Through the configuration, a worm gear and worm mechanism may be a mechanism without the self-locking function, so that the worm can rotate clockwise under the drive of the output shaft of the feeling driver, and may also rotate counterclockwise under the drive of the output shaft. Therefore, a resistance can be provided when the first steering shaftdrives the worm gear to turn, so as to simulate the steering damping feeling, and assistance can be provided when the first steering shaftdrives the worm gear to restore, so as to simulate the restoring force. In this way, the structure is more reliable.

32 33 Certainly, the present disclosure is not limited thereto. In some embodiments of the present disclosure, the driving memberand the driven membermay also be helical gears meshing with each other (not shown in the figure). As a result, the real feel of the vehicle driving can also be effectively simulated, the structure is compact, the transmission is relatively accurate, the transmission efficiency is high, the operation is reliable, and the service life is long.

100 100 31 32 33 100 100 1 32 33 In the vehicle steering systemaccording to the embodiments of the present disclosure, when the vehicle steering systemis the steering-by-wire system, the driving simulation system, and the like, the feeling drivercan drive the output shaft to drive the driving memberto rotate and provide the torque for the driven memberto simulate the real driving feel such as the steering damping, the restoring force and the road feel simulation torque. The structure is simple and the operation is convenient. Moreover, the torque detector and the driving computer can be configured to detect the driving condition of the vehicle and the driving attitude of the driver. Therefore, the feedback force of the vehicle steering systemby the driving condition and the driving attitude can be simulated, so as to provide the driver with a more realistic road feeling. In this way, the safety detector can be configured to play a role of vibration warning when there is a safety risk in driving. In this way, the vibration feeling can be provided to the driver and at least one of the fatigue driving warning, the lane departure warning, the collision warning, the lane change blind area warning, and the reverse collision warning can be realized, which can effectively improve the driving safety. Besides, the structure of the entire vehicle steering systemis compact and small, which can effectively improve the assembly and disassembly efficiency, and has the good sealing performance, which can prevent the impurities such as the dust from entering the interior of the housing. Therefore, the normal operation of the driving memberand the driven membercan be guaranteed, which has a high reliability.

13 FIG. 14 FIG. 17 FIG. 18 FIG. 13 FIG. 17 FIG. 17 FIG. 18 FIG. 100 10 10 101 2 2 2 2 101 101 2 2 101 101 2 3 2 3 2 2 According to some embodiments of the present disclosure, as shown in,,, and, the vehicle steering systemfurther includes a coupling device. The coupling deviceincludes a second steering shaftand a first steering shaft. The first steering shaftis connected to the steering gear. The first steering shaftis configured to move between a coupling position and a decoupling position. The first steering shaftcombines with the second steering shaftat the coupling position and transmits a steering torque of the steering gear. In this case, the synchronous rotation between the second steering shaftand the first steering shaftcan be realized, as shown inand. The first steering shaftis decoupled from the second steering shaftat the decoupling position and the transmission of the steering torque of the steering gear is interrupted. In this case, the second steering shaftand the first steering shaftcan be rotated separately, as shown inand. The feeling simulatoris connected with the first steering shaft. A feeling simulatorsimulates the feel of the first steering shaftat the coupling position when the first steering shaftis at the decoupling position.

10 101 2 2 101 101 2 101 2 3 2 2 3 10 By dividing the coupling deviceinto the second steering shaftand the first steering shaft, and the first steering shaftis connected to the steering gear, the second steering shaftcan be connected to the wheel. When the second steering shaftcontacts the first steering shaft, the synchronous movement of the steering gear and the wheel can be realized. When the second steering shaftand the first steering shaftare decoupled, the steering gear and the wheel can be moved separately. By connecting the feeling simulatorwith the first steering shaft, the first steering shaftcan transfer the force of the feeling simulatorto the steering gear. In this way, the structure of the coupling deviceis more reasonable.

15 FIG. 16 FIG. 19 FIG. 10 500 2 500 2 500 2 500 According to some embodiments of the present disclosure, as shown in,, and, the coupling devicefurther includes a third transmission shaft. The first steering shaftis connected to the steering gear through the third transmission shaft. The first steering shaftis engaged with the third transmission shaftto transmit the steering torque of the steering gear, and the first steering shaftcan move between the coupling position and the decoupling position relative to the third transmission shaft.

2 500 2 Therefore, the first steering shaftcan be rotated synchronously with the steering gear through the third transmission shaft. When the first steering shaftmoves between the coupling position and the decoupling position, the position of the steering gear remains unchanged, which improves a fixed position of the steering gear held by a passenger and optimizes the driving experience.

500 510 2 510 500 500 500 2 210 210 2 210 2 210 2 500 2 500 2 500 In some embodiments of the present disclosure, the third transmission shaftis configured with a cavity. The first steering shaftextends into the cavity. An inner peripheral surface of the third transmission shaftis configured with multiple splines. Each spline extends along an axial direction of the third transmission shaft, and the multiple splines are arranged/disposed along the circumferential direction of the third transmission shaft. An outer peripheral surface of the first steering shaftis configured with multiple spline grooves. Each spline grooveextends in the axial direction of the first steering shaft, and the multiple spline groovesare arranged in a circumferential direction of the first steering shaft. The multiple splines engage with the multiple spline grooves. In this way, while facilitating the function of transmitting the steering torque between the first steering shaftand the third transmission shaft, a relative sliding between the first steering shaftand the third transmission shaftalong the axial direction of the first steering shaft(that is, the axial direction of the third transmission shaft) is also facilitated.

10 FIG. 13 FIG. 14 FIG. 10 300 400 300 2 300 2 2 400 300 400 2 300 400 2 2 2 400 300 2 2 400 400 2 According to some embodiments of the present disclosure, as shown in,and, the coupling devicefurther includes a shaft sleeveand a driving assembly. The shaft sleeveis sleeved on the first steering shaft. The shaft sleeveis axially fixed/coupled to the first steering shaftand configured to rotate relative to the first steering shaft. The driving assemblyis connected to the shaft sleeve. The driving assemblydrives the first steering shaftto move between the coupling position and the decoupling position through the shaft sleeve. In this way, the driving assemblycan provide a driving force for the first steering shaft, so as to facilitate the movement of the first steering shaft. A direct contact is not required between the first steering shaftand the driving assemblyby arranging/disposing the shaft sleeve. When the first steering shaftcan be displaced along the axis, it also ensures that the first steering shaftcan rotate relative to the driving assembly. That is to say, the presence of the driving assemblydoes not interfere with the rotation of the first steering shaft.

15 FIG. 16 FIG. 19 FIG. 101 2 300 1 101 2 300 500 1 400 1 According to some embodiments of the present disclosure, as shown in,, and, at least a part of the second steering shaft, at least a part of the first steering shaftand the shaft sleeveare arranged/disposed in the housing. For example, a part of the second steering shaft, a part of the first steering shaft, a part of the shaft sleeve, and a part of the third transmission shaftare located in the housing. The driving assemblyis mounted outside the housing.

1 400 101 2 300 101 2 300 By the configuration of the housing, on the one hand, a mounting position is provided for the driving assembly, and on the other hand, a direct contact area between the second steering shaft, the first steering shaft, and the shaft sleeveand the outside world can be reduced, and the damage probability of the second steering shaft, the first steering shaft, and the shaft sleevecan be reduced.

17 FIG. 18 FIG. 400 430 440 450 430 1 440 430 450 440 1 300 According to some embodiments of the present disclosure, as shown inand, the driving assemblyincludes a driving device, a transmission mechanism, and a connecting rod mechanism. The driving deviceis hinged to the housing. The transmission mechanismis drive-connected to the driving device. The connecting rod mechanismis hinged to the transmission mechanism, the housing, and the shaft sleeve.

400 400 300 2 300 300 In this way, a structure of the driving assemblyis reasonable, which is convenient for the transmission of the driving force, and the driving assemblyis separated, which reduces the difficulty of production. The connecting rod is configured to drive the shaft sleeveand the first steering shaft, which not only makes the force transmission more reliable and labor-saving, but also facilitates the elimination of the turning torque of the shaft sleeveand ensures that the shaft sleevecan continue to move linearly.

450 430 2 450 2 430 430 450 2 430 2 450 300 2 430 430 By configuring the connecting rod mechanism, while realizing the transmission of the driving force between the driving deviceand the first steering shaft, the connecting rod mechanismcan increase the force driving the movement of the first steering shaft. Therefore, the requirement for the driving force outputted by the driving devicecan be reduced, thereby reducing the cost of the driving device. Moreover, the connecting rod mechanismcan expand the movement stroke of the first steering shaft, and can realize a long-distance transmission of the driving force between the driving deviceand the first steering shaft. By using the diversity of the transmission direction of the connecting rod mechanism, the shaft sleeveand the first steering shaftcan be driven to move according to a predetermined path while reducing a position requirement of the driving deviceand improving the flexibility of a layout of the driving device.

17 FIG. 18 FIG. 450 451 452 453 451 440 451 300 452 440 452 300 450 300 450 300 300 According to some embodiments of the present disclosure, as shown into, the connecting rod mechanismincludes a first connecting rod, a second connecting rod, and a third connecting rod. One end of the first connecting rodis hinged to the transmission mechanism, and the other end of the first connecting rodis hinged to the shaft sleeve. One end of the second connecting rodis hinged to the transmission mechanism, and the other end of the second connecting rodis hinged to the shaft sleeve. In this way, the connecting rod mechanismcan drive the shaft sleevethrough two paths, and the driving force of the connecting rod mechanismto the shaft sleeveis more dispersed, thereby improving the stability of the movement of the shaft sleeve.

453 1 453 451 452 451 452 451 452 453 Moreover, one end of the third connecting rodis hinged to the housing, and the other end of the third connecting rodis hinged to the first connecting rodand the second connecting rod. In this way, a relative position between the first connecting rodand the second connecting rodis stable, and the two ends of the first connecting rodand the two ends of the second connecting rodcan swing with the third connecting rodas a fulcrum.

100 The vehicle (not shown in the figure) according to an embodiment of the present disclosure includes the vehicle steering systemaccording to any of the above embodiments of the present disclosure.

100 The vehicle according to an embodiment of the present disclosure, by adopting the vehicle steering system, can be configured to simulate the real driving feel such as the steering damping feeling and the restoring force, and functions such as the road feeling feedback and the vibration prompt can also be realized, so as to ensure the authenticity of the simulation.

Other configurations and operations of the vehicle according to the embodiments of the present disclosure are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present disclosure, it should be understood that orientation or position relationships indicated by the terms such as “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “on”, “below”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “anticlockwise”, “axial direction”, “radial direction”, and “circumferential direction” are based on orientation or position relationships shown in the accompanying drawings, and are used only for ease and brevity of illustration and description, rather than indicating or implying that the mentioned apparatus or component must have a particular orientation or must be constructed and operated in a particular orientation. Therefore, such terms should not be construed as limiting of the present disclosure.

In the descriptions of the present disclosure, descriptions using reference terms “an embodiment”, “some embodiments”, “an exemplary embodiment”, “an example”, “a specific example”, or “some examples” mean that specific characteristics, structures, materials, or features described with reference to the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, exemplary descriptions of the foregoing terms do not necessarily refer to the same embodiment or example.

Although the embodiments of the present disclosure have been shown and described, a person of ordinary skill in the art should understand that various changes, modifications, replacements, and variations may be made to the embodiments without departing from the principles and spirit of the present disclosure, and the scope of the present disclosure is as defined by the appended claims and their equivalents.